1. Renesas Electronics America Inc. © 2010 Renesas Electronics America Inc. All rights reserved. ID630L: Becoming Familiar with Sensorless Vector Control of BLDC Motors Huangsheng Xu Consumer & Industry BU 14 October 2010 Version: 1.0

2. 2 © 2010 Renesas Electronics America Inc. All rights reserved. Huangsheng Xu Senior Staff Application Engineer, Primary focus on Motor Control Applications and Customer Supports Ph.D. degree in electrical engineering from Texas A&M University, College Station, Texas, in 2001. Twenty years working on motor drives, especially, sensorless vector control of PMSM motors and induction motors. Three U.S. patents Over twenty papers in the IEEE journals and conference proceedings. The third award at IEEE-Industrial Application Society 2006 for sensorless vector control of three-phase induction motors.

3. 3 © 2010 Renesas Electronics America Inc. All rights reserved. Lab Assistants – Gordon Smith & John Pocs Gordon Smith is a Sr. FAE at Renesas, responsible for supporting Customer MCU designs throughout the Greater Chicago Area. He uses his nearly 30 years of Hardware, Software, and System Design experience, to assist Renesas’ World-class Customers in creating the most rugged, cost-effective, and innovative circuits on the Planet! John Pocs is a motor control expert for MCU motor control applications and customer support. He has 12 year with NEC Electronics, and currently he is a staff application engineer at Renesas, and has over 20 years embedded system development, application and industrial experience. He is very familiar with 8/16/32-bit MCUs.

4. 4 © 2010 Renesas Electronics America Inc. All rights reserved. Renesas Technology and Solution Portfolio Microcontrollers & Microprocessors #1 Market share worldwide * Analog and Power Devices #1 Market share in low-voltage MOSFET** Solutions for Innovation ASIC, ASSP & Memory Advanced and proven technologies * MCU: 31% revenue basis from Gartner "Semiconductor Applications Worldwide Annual Market Share: Database" 25 March 2010 **Power MOSFET: 17.1% on unit basis from Marketing Eye 2009 (17.1% on unit basis).

5. 5 © 2010 Renesas Electronics America Inc. All rights reserved. 5 Renesas Technology and Solution Portfolio Microcontrollers & Microprocessors #1 Market share worldwide * Analog and Power Devices #1 Market share in low-voltage MOSFET** ASIC, ASSP & Memory Advanced and proven technologies * MCU: 31% revenue basis from Gartner "Semiconductor Applications Worldwide Annual Market Share: Database" 25 March 2010 **Power MOSFET: 17.1% on unit basis from Marketing Eye 2009 (17.1% on unit basis). Solutions for Innovation

6. 6 © 2010 Renesas Electronics America Inc. All rights reserved. 6 Microcontroller and Microprocessor Line-up Superscalar, MMU, Multimedia  Up to 1200 DMIPS, 45, 65 & 90nm process  Video and audio processing on Linux  Server, Industrial & Automotive  Up to 500 DMIPS, 150 & 90nm process  600uA/MHz, 1.5 uA standby  Medical, Automotive & Industrial  Legacy Cores  Next-generation migration to RX High Performance CPU, FPU, DSC Embedded Security  Up to 10 DMIPS, 130nm process  350 uA/MHz, 1uA standby  Capacitive touch  Up to 25 DMIPS, 150nm process  190 uA/MHz, 0.3uA standby  Application-specific integration  Up to 25 DMIPS, 180, 90nm process  1mA/MHz, 100uA standby  Crypto engine, Hardware security  Up to 165 DMIPS, 90nm process  500uA/MHz, 2.5 uA standby  Ethernet, CAN, USB, Motor Control, TFT Display High Performance CPU, Low Power Ultra Low Power General Purpose

7. 7 © 2010 Renesas Electronics America Inc. All rights reserved. 7 Microcontroller and Microprocessor Line-up Superscalar, MMU, Multimedia  Up to 1200 DMIPS, 45, 65 & 90nm process  Video and audio processing on Linux  Server, Industrial & Automotive  Up to 500 DMIPS, 150 & 90nm process  600uA/MHz, 1.5 uA standby  Medical, Automotive & Industrial  Legacy Cores  Next-generation migration to RX High Performance CPU, FPU, DSC Embedded Security  Up to 10 DMIPS, 130nm process  350 uA/MHz, 1uA standby  Capacitive touch  Up to 25 DMIPS, 150nm process  190 uA/MHz, 0.3uA standby  Application-specific integration  Up to 25 DMIPS, 180, 90nm process  1mA/MHz, 100uA standby  Crypto engine, Hardware security  Up to 165 DMIPS, 90nm process  500uA/MHz, 2.5 uA standby  Ethernet, CAN, USB, Motor Control, TFT Display High Performance CPU, Low Power Ultra Low Power General Purpose SuperH

8. 8 © 2010 Renesas Electronics America Inc. All rights reserved. Sensorless Vector Control Innovation Green Power Home Appliances Industrial AutomationAutomotive, Health Medicals Sensorless Vector Control

9. 9 © 2010 Renesas Electronics America Inc. All rights reserved. How much experience do you have with Sensorless Vector Control Design? 1.Extensive 2.Moderate 3.Low 4.None

10. 10 © 2010 Renesas Electronics America Inc. All rights reserved. How much experience do you have with Renesas Microcontrollers? 1.Extensive 2.Moderate 3.Low 4.None

11. 11 © 2010 Renesas Electronics America Inc. All rights reserved. Lab Agenda Lab Overview(5 minutes) Introducing Sensorless Vector Control(15 minutes) Phase 1: Set up Sensorless Vector Control Demo (10 minutes) Phase 2: Sample Motor Currents and DC Bus Voltage (15 minutes) Phase 3: Drive the Motor with Open Loop (20 minutes) Phase 4: Understand Sensorless Position and Speed Estimation (20minutes) Phase 5: Drive Motor with Closing Speed using Estimated Speed by GUI (25 minutes) Play time or Q&A(10 minutes)

12. 12 © 2010 Renesas Electronics America Inc. All rights reserved. Lab Overview – Hardware Configuration USB Cable E10A Cable Motor GUI E10A

13. 13 © 2010 Renesas Electronics America Inc. All rights reserved. Hardware Platform Motor SH7216 E10A Connector USB Connector Motor Connector

14. 14 © 2010 Renesas Electronics America Inc. All rights reserved. Renesas Sensorless Vector Control Strategy Commanded speed Observed actual speed Clarke transform Park transform Inverse Clarke transform Inverse park transform Current loop Speed loop

15. 15 © 2010 Renesas Electronics America Inc. All rights reserved. Motor Startup Procedure Back EMF can’t detect at very low speed. Start up with rotor alignment continuing with open loop The startup subroutine provides a constant torque by closing current loop – iq = maximum startup torque and id=0. At the given startup time, the software switches over to closed speed loop. Sensorless control takes position and speed from flux and speed observer.

16. 16 © 2010 Renesas Electronics America Inc. All rights reserved. Software Configuration Sensorless Vector Control Algorithm (Flux observer,speed estimation,PI controller,protection,space vector PWM modulation...) Initialization Parameter Definitions Startup Procedure Current id Regulator Speed Regulator Current iq Regulator Speed Setting& Ramp Control Communication Layer Vector Control Transformation WDT IWDT Space Vector PWM Generation Flux&Position Observer Speed Estimation ADC Sampling PI controller PWM Duty Calculation Protections (locked rotor,lost control,over- current,POE,watchdog …) SH7216 200MHz32bit FPU LVDPOE2xADC12xMTU512KFlash96KRAMSCI/CAN/Ethenet

17. 17 © 2010 Renesas Electronics America Inc. All rights reserved. Sensorless Vector Control Software Workspace All code is written in C, and it is compatible for all Renesas devices. Compiler uses Renesas HEW, which automatically generates the MCU-related definition code. All MCUs have basic ADC, PWM, interrupt, etc, sample codes. For sensorless vector control solution, motor parameters, sensor inputs, ADCs, and control parameters are easily tuned through Renesas Graph Interface (GUI). Real time control – parameter changes and track through the watch window.

18. 18 © 2010 Renesas Electronics America Inc. All rights reserved. High-performance Embedded Workshop (HEW) Real Time Watch Editor Window Project Manager

19. 19 © 2010 Renesas Electronics America Inc. All rights reserved. Graphic User Interface (GUI) Parameter Setting Speed Setting Variable Display Control Status

20. 20 © 2010 Renesas Electronics America Inc. All rights reserved. 1.Done Start Lab Please refer to the lab handout Go ahead and start the lab

21. 21 © 2010 Renesas Electronics America Inc. All rights reserved. Q & A

22. 22 © 2010 Renesas Electronics America Inc. All rights reserved. Sensorless Vector Control Innovation Green Power Home Appliances Industrial AutomationAutomotive, Health Medicals Sensorless Vector Control

23. © 2010 Renesas Electronics America Inc. All rights reserved. 23 Thank You!

24. Renesas Electronics America Inc.